Proxy Robots and Remote Environment Simulator for Their Human Handlers

ABSTRACT

A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.

CLAIM OF PRIORITY

The present invention claims priority to Provisional U.S. PatentApplication No. 61,599,204 filed on Feb. 15, 2012, entitled “SpaceExploration with Human Proxy Robots;” Provisional U.S. PatentApplication No. 61,613,935 filed on Mar. 21, 2012, entitled “RemoteEnvironment Simulator for Human Proxy Robot Handlers;” and co-pendingnon-provisional U.S. patent application Ser. No. 13/479,128 filed on May23, 2012. The application to follow has basis in all of the earlierfilings, with special emphasis on the creation of an environment for ahuman handler reflecting as closely as possible the remote environmentof the handler's proxy robot.

FIELD OF THE INVENTION

The present claimed invention generally relates to robotics. Morespecifically the present invention relates to human proxy robot systems.

BACKGROUND OF THE INVENTION

While the content herein is applicable to robots with some or even agreat deal of autonomy as taught in the previous application, it isparticularly pertinent to cases where the robot is largely devoid ofartificial intelligence (AI), essentially representing an extension ofthe human handler.

Put another way, this specification is about human telepresence inspace, and especially in such near-space locations as the earth's moon.During his or her turn in control of a given proxy robot, the humanhandler sees and feels and acts through the “person” of that robot:guiding the proxy in exploring; mining; doing science experiments;constructing; observing the earth, planets or stars; launchingspaceships to further destinations; rescuing other robots or humans; orsimply enjoying an earthrise over the moon's horizon.

In the prior art are several patents dealing with omni-directional andspherical treadmills, all involving simulated virtual reality (VR)generated by a computer program as opposed to the simulation of theactual environment being experienced by a proxy robot in its remoteenvironment as taught in the present invention. Carmein U.S. Pat. No.5,562,572 discloses ways to make an omni directional treadmill for VRand other purposes, but the methods and apparatus employed do notanticipate the specification to follow. Nor are his treadmill designsvery stable, with the human constrained by balance cuffs, supportstruts, hand grips and the like just to stay upright.

Carmein '572 also makes brief mention of how the omni-directionaltreadmill of his invention may be utilized in telepresence in aone-paragraph description of FIG. 18 (FIG. 39 in C.I.P. '256 below), butfails to claim or adequately teach how a human can be productivelylinked in practice to a robot in some remote location. In the presentspecification and a companion application pertaining to handlerenvironment simulation, prior art weaknesses, defects and “sciencefiction” will be overcome as methods and apparatus for a complete humanhandler-proxy robot system are disclosed.

Latypov U.S. Pat. No. 5,846,134 features a spherical shell inside ofwhich a human walks in treadmill fashion, but this concept is quitedistinct from the spherical treadmill disclosed in the currentapplication, where the human handler of a proxy robot stands and moveson the top exterior of a sphere with diameter sufficiently large(typically 30 feet in diameter) that the handler, to all intents andpurposes, is moving on a flat surface if that is the remote terrainbeing simulated.

U.S. Pat. No. 5,980,256, also by Carmein, is a continuation-in-part of'572 above and U.S. Pat. No. 5,490,784. The latter pertains to sphericalcapsules within which humans can walk (albeit uphill) in any direction,but does not apply to the present invention. The circular form inCarmein's ('256) FIG. 23 does not denote a turntable, but rather definesa circular track unlike the current invention. While Carmein's FIG. 37and description are somewhat akin to the motion simulator in the currentspecification's FIG. 7, the point is moot in any case since such motionsimulators are well-established in the prior art.

Butterfield U.S. Pat. No. 6,135,928. This patent, which expired in 2008,discloses a spherical treadmill for VR gaming, but it is so small at 6-7ft. diameter as to never seem flat to its human “rider,” who requires arestraining harness and support system just to stay upright. In theButterfield patent, the sphere basically represents a human-poweredtrackball, operating in exactly that manner to input x- and y-axisorientation and movement to a VR game on a computer.

Put another way, Butterfield's focus is virtual reality, for fantasygames, while the application below is all about the best-possiblesimulation of actual reality in a remote location. As a consequence, theStephens specification does not utilize a small, inflatable sphere as acomputer trackball or mouse as taught by Butterfield, but rather uses amuch larger and firmer motor-driven spherical treadmill to replicate theterrain upon which a proxy robot is walking, climbing or carrying outvarious tasks. (Butterfield does depict how a “hill” can be created bymoving the user off-center, but the problem with such a small sphere isthat there is a constant “hill” created by the small-diameter sphereitself.)

These and other distinctions over the current art will become evidentfrom study of the specification and drawings to follow.

The specification to follow discloses novel systems, methods andapparatus to simulate the environment of the proxy robot's mission, toassure the best possible outcome of that mission.

OBJECTS OF THE INVENTION

One object of the present invention is to describe a viable methodologyfor human space exploration utilizing proxy robot surrogates in spacecontrolled by humans on earth.

A second object of the present invention is to provide humantelepresence on the moon and other locations near earth utilizing proxyrobots capable of being controlled by one or more human handlers in realor near-real time.

A third object of the present invention is to provide telepresence onthe moon and other locations in space utilizing proxy robots in suchmanner that each proxy robot functions as a human telepresence, asurrogate for one or more humans back on earth or at some other remotelocation.

A fourth object of the present invention is to provide humantelepresence on the moon and other locations in space utilizing humanproxy robots capable of providing accurate visual, aural, olfactory,tactile and other sensual data to a human handler such that the handlerexperiences the experience of actually being there in the body of theproxy robot.

A fifth object of the present invention is to monitor and capture allmovements of a human handler by means of motion capture technologymodified for this purpose in such manner that each change in jointangle, body posture or position can be relayed as “follow me” data to aproxy robot for emulation.

A sixth object of this invention is to monitor and capture all movementsof a human handler by means of strain sensors in the handler's clothing,gloves, stockings, booties or elastic bands worn by the handler overjoints such that each change in joint angle, body posture or positioncan be relayed as “follow me” data to a proxy robot for emulation.

A seventh object of this invention is to provide human telepresence onthe earth, on the moon and at other locations near earth utilizing humanproxy robots which receive tactile data from their human handlers andfollow each and every move of each handler in “follow me” commands.

An eighth object of this invention is to provide for teams of humanproxy robots under direct human control to carry out missions on theearth, on the moon and at other locations in near earth locations, whereindividual robotic team members are operated by humans specialized infields including geology; planetary science; life science; emergencyresponse, whether human or robotic; human medicine; robot maintenanceand repair; mining; and sample analysis.

A ninth object of this invention is to provide for teams of human proxyrobots operating under direct human control to carry out missions on theearth, on the moon and at other near earth locations, where individualrobotic team members are operated by humans specialized in fields suchas construction of communication or observation platforms, assembly oftelescopes and other instruments, landing and launch areas, shelters andhabitations for human dwellers, or mines or resource processingfacilities.

A tenth object of this invention is to provide a middle course betweenrobotic and manned space missions that goes far in satisfying the needfor human presence while avoiding the inherent risks and enormous costto send human astronauts to places like the moon, with explorationundertaken by means of robot proxies operated by specialists on earthwho see what the proxy sees and feel what it feels, while working andmaking judgement calls in their particular specialty.

An eleventh object of the present invention is to describe a viablemethodology for human space exploration utilizing proxy robot surrogatesin space controlled by humans in non-earth locations including spacestations, orbiting modules, spacecraft, and lunar or planetary bases.

A twelfth object of the present invention is the provision of two-waydata and communication channels between proxy robots and their handlers,including channels from proxy to human with video, sensory, positionaland analytical data.

A thirteenth object of the present invention is the provision of two-waydata and communication channels between proxy robots and their handlers,including channels from handler to proxy with “follow me” positionaldata and mission commands.

A fourteenth object of the present invention is the provision ofsend/receive headsets for human handlers operating proxy robots as ateam, whereby the handlers can communicate among themselves and withother mission specialists while operating their individual proxies.

A fifteenth object of the present invention is the provision of replicatools for the human handler of exactly the same size and shape as thetools available to the proxy robot, but made to match the weight of eachtool in its remote location.

A sixteenth object of the present invention is to provide a treadmillfor the human handler with provision for changing the pitch and roll ofthe treadmill to match conditions in the remote location of the proxyrobot.

A seventeenth object of the present invention is to provide a treadmillfor the human handler with provision for changing the pitch and roll ofthe treadmill to match conditions in the remote location of the proxyrobot, where pitch, roll and other positional data are continuallyadjusted in the handler environment from computer-driven mechanismsanalyzing video and other signals from the proxy robot.

An eighteenth object as in seventeen above, wherein doppler radartransceivers operating via radio frequency, light, infra-red or evensonar where applicable could be located in appropriate locations such asabove the robot's eye cameras and in the front of the robot's boots.

A nineteenth object of the present invention is to provide a flow ofdata from human handler to proxy robot, wherein joints in the arm,wrist, hand, fingers, torso, legs, feet and neck of the human handlercontinually send positional and joint angle data to the robot for“follow me” repication by the proxy robot.

Object twenty as in object nineteen, wherein sensors would continuouslymonitor the side-to-side angle (heading), up-down angle (pitch), andsideways tilt (roll) of the human's head, allowing all of these anglesto be faithfully replicated by the proxy robot.

A twenty-first object of the present invention is to provide outer wearfor the human handler such that, wherever the proxy robot is stiff andinflexible, the human should feel the same inflexibility.

A twenty-second object of the present invention is the provision of atwo-way communication headset to be worn by the human handler to allowhandler communication with human colleagues, including mission personneland other team members.

A twenty-third object of the present invention, where the humanhandler's microphone can also be used for voice commands to the missioncomputer, like saying “Freeze, Freeze” to stop the robot in its tracksand go offline, and “Restore, Restore” to restore the link and continuehuman-robot interaction.

A twenty-fourth object of the present invention is the provision of a“gravity harness” connected to a number of bungee cords or cables withsprings, all calibrated to render the effective weight of the humanhandler the same as that of the handler's proxy robot at its remotelocation.

A twenty-fifth object of the present invention is the provision of avideo display for the human handler showing real- or near-real timevideo from the camera “eyes” of the handler's proxy robot.

A twenty-sixth object of the present invention, wherein the video in thepreceeding object is three-dimensional, with the human handler's gogglesor other display including provision for 3-D rendering such aspolarization, left-right switching, color differentiation, verticalstriation or some other known way to channel video from the robot'sright camera to the handler's right eye and left camera robot video tothe left eye of the handler.

A twenty-seventh object of the present invention is the provision of avideo display screen as in the two preceding objects, wherein thedisplay screen also includes information from the remote location suchas ambient temperature, ambient luminosity, pitch forward, rollright-left, heading in degrees from true north, latitude and longitude,surface conditions, proxy battery status, and an area of the screen foralerts and warnings.

A twenty-eighth object of the present invention is the provision of avideo display screen as in the preceding object, including a frontal andright profile view of the proxy robot's body in simple outline or stickfigure form.

A twenty-ninth object of the present invention is the provision of amethod and apparatus whereby the handler can change heading on atreadmill, causing the handler's proxy robot to change heading while thehuman handler stays safely on the treadmill, accomplished by placing thetreadmill on a turntable which changes heading to match the averageorientation of the handler's boots, with two or more markers on eachboot signaling the orientation of that boot.

A thirtieth object of the present invention according to objecttwenty-nine, wherein an overhead reader scans or otherwise notes theposition of the markers atop the handler's boots, such that when thesecond boot has changed heading, the reader sends a command to theturntable to rotate to a new heading averaged between the headingreadings from both boots.

A thirty-first object of the present invention in accordance with objectthirty, where the operational medium between the markers and reader issome method of radio transmission such as RFID, Bluetooth, WiFi, Zigbee,near-field or any number of other RF means; and wherein the readercontains transceivers that “ping” both points on each boot totriangulate their orientation and relative locations.

A thirty-second object of the present invention is further to the matterdisclosed in objects thirty and thirty-one, wherein other triangulationmethods can include laser transmission and reflection, radar and sonar,and the markers on the boots might themselves be transmitters of RF,sound or light, in which case the reader would incorporate one or morereceivers to plot the orientation of each boot.

A thirty-third object of the present invention is a method and apparatusfor varying the pitch and/or roll of a treadmill for a human proxy robothandler, wherein attached to the treadmill frame are four legs which areextendable via hydraulic, pneumatic or other means from a relativelyshort profile to many times that height; such that pitch (front to backtilt) may be varied by extending either front or back legs; roll(right-left tilt) can be varied by extending the legs on either side;and combinations of pitch and roll can be created by varying the lengthof each leg.

A thirty-fourth object of the present invention is another method andapparatus for varying the pitch and/or roll of a treadmill for a humanproxy robot handler, wherein the treadmill is mounted by suitable meansto a stand which rests on four or more short legs, and each leg in turnrests on a ball joint and ball-cupped foot which may be mounted to thefloor, and wherein pitch and roll are controlled by four winches, eachconnected to a cable, wire or rope, and various corners of the treadmillstand are lifted to achieve the appropriate amount of pitch and/or roll.

A thirty-fifth object of the present invention adds stability to thedevice disclosed in object thirty-four above by including telescoping orcoiled spring elements in each short leg to allow all legs to continueto touch the floor under any combination of pitch and roll.

A thirty-sixth object of the present invention adds stability to thedevice disclosed in object thirty-four above in the form of four bungeecords or cables with series springs radiating outward from each cornerof the stand, with each cord connected to a suitable hook to maintainthe entire platform centered and stable under various conditions ofpitch and/or roll.

A thirty-seventh object of the present invention is a method andapparatus for varying the pitch and roll of a treadmill by housing thattreadmill and a human proxy robot handler in a modified or custom mademotion simulator, complete with gravity harness and large video screen,and wherein pitch and/or roll can be modified by varying the length offour or more large hydraulically extending arms supporting the motionsimulator.

A thirty-eighth object of the present invention is the provision of anenvironment simulator including a treadmill with variable pitch and rolland infinitely variable heading; wherein the treadmill takes the form ofa large sphere with a diameter many times average human height.

A thirty-ninth object of the present invention is the provision of aspherical treadmill environment simulator as in object thirty eightabove, wherein the sphere rests upon several large bearings and isrotated by a plurality of rollers in contact with the surface of thesphere so as to turn the sphere in any direction when commanded bycircuitry monitoring both the steps of a human handler and the pitch androll of terrain immediately ahead in the remote location.

A fortieth object of the present invention is the provision of aspherical treadmill environment simulator as in object thirty eightabove, wherein the treadmill itself moves the handler to a location onthe surface of the sphere which exhibits pitch and roll matching terrainconditions in the remote location of the handler's proxy robot.

A forty-first object of the present invention is the provision of aspherical treadmill environment simulator as in object thirty eightabove, with the added feature of the simulator receiving data fromsources on the “person” of the proxy robot including 3-D video from itscamera “eyes,” terrain-level radar data from its boots, and anadditional radar view from a point above the robot's video cameras.

A forty-second object of the present invention is the provision of aspherical treadmill environment simulator as in object thirty eightabove, wherein video from the remote location is routed to a videoterrain analyzer which turns the near-real-time video stream into dataabout the terrain ahead, both immediate and the general lay of the landupcoming.

A forty-third object of the present invention is the provision of aspherical treadmill environment simulator as in object forty-two above,where the mentioned video data is combined with signals from the proxyrobot's boot view and head view radar and routed to a “terrain justahead” circuit where they are bundled with handler step motion data andfed to a processor which turns all the input into meaningful signals todrive the spherical treadmill's roller motors.

A forty-fourth object of the present invention is the provision of aspherical treadmill environment simulator as in object thirty-eightabove, including a gravity harness suspended from a platform by a numberof bungee cords or cables with springs, and with the additionalprovision for moving the gravity harness to follow the movement of thehandler about on the sphere to maintain direct overhead lift and aneffective human handler weight equal to that of the remote proxy robot.

A forty-fifth object of the present invention includes the movablegravity harness lift described in object forty-four above, but with thelifting and positioning done by a movable, extendable boom or roboticarm which receives data from a processor and maintains direct overheadupward torque on the human handler in her gravity harness.

SUMMARY OF THE INVENTION

A system for controlling a human-controlled proxy robot surrogate ispresented. The system includes a plurality of motion capture sensors formonitoring and capturing all movements of a human handler such that eachchange in joint angle, body posture or position; wherein the motioncapture sensors are similar in operation to sensors utilized in motionpicture animation, suitably modified to track critical handler movementsin near real time. A plurality of controls attached to the proxy robotsurrogate is also presented that relays the monitored and capturedmovements of the human handler as “follow me” data to the proxy robotsurrogate in which the plurality of controls are configured such thatthe proxy robot surrogate emulates the movements of the handler.

The objects and advantages of the invention will be realized andattained by means of the elements and combinations particularly pointedout in the claims. It is to be understood that both the foregoinggeneral description and the following detailed description are exemplaryand explanatory and are not restrictive of the invention, as claimed.

DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an exemplary embodiment of a proxy robot and itshuman handler.

FIG. 1A illustrates an exemplary embodiment of a headset's electroniccircuit.

FIG. 2 illustrates an exemplary embodiment of a representation of aheads-up display.

FIG. 3 illustrates an exemplary embodiment of a method and apparatuswhereby the handler can change heading on the treadmill.

FIG. 3A illustrates an exemplary embodiment of the handler position.

FIG. 3B illustrates an exemplary embodiment of the handler position.

FIG. 3C illustrates an exemplary embodiment of the treadmill of FIG. 3in a new heading.

FIG. 4 illustrates an exemplary embodiment of the orientation of aturntable.

FIG. 4A illustrates an exemplary embodiment of the handler's footmovement.

FIG. 4B illustrates an exemplary embodiment of a magnified and moredetailed top-down view of the right boot.

FIG. 4C illustrates an exemplary embodiment of an overhead reader notingthe position of these markers atop the handler's boots.

FIG. 5 illustrates an exemplary embodiment of a treadmill mounted to astand with appropriate mounting hardware.

FIG. 6 illustrates an exemplary embodiment of a method and apparatus foradding pitch and roll.

FIG. 7. illustrates an exemplary embodiment of another method andapparatus for the addition of pitch and roll to a treadmill simulator

FIG. 8 illustrates an exemplary embodiment of a spherical treadmill withvariable pitch, roll and infinitely variable heading.

FIG. 8A illustrates another exemplary embodiment of a sphericaltreadmill with variable pitch, roll and infinitely variable heading.

FIG. 9 illustrates an exemplary embodiment of a method and apparatus forharvesting solar energy to maintain batteries and electrical systems.

FIG. 9A illustrates an exemplary embodiment of a rear view of the dome.

FIG. 9B illustrates an exemplary embodiment of a block diagram showingsolar panels.

FIG. 10 illustrates an exemplary embodiment of methods and apparatus forthe adjustment of key proxy robot dimensions.

FIG. 10A illustrates a manually-adjusting turnbuckle-like element,magnified for clarity

FIG. 10B illustrates an exemplary embodiment in block diagram form, ofhow the proxy robot dimension motors might work in a circuit.

FIG. 11 illustrates an exemplary embodiment of a proxy robot withhydraulic size adjustment means.

FIG. 11A illustrates an exemplary embodiment of a size adjusting circuitutilizing hydraulic pump motors.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A description of the preferred embodiments with reference to the figuresis here presented.

Referring to FIG. 1, a proxy robot surrogate 1 is depicted and its humanhandler 2. Note that the body position of both handler and proxy robotis the same, with the proxy following all the handler's moves. Forexample, in the handler's right hand 5 is a bar tool 6 for breaking andprying rocks; but more correctly the handler is holding a replica bartool, probably made from plastic, composite or wood to simulate theweight of such a tool on the moon or at some other location in space.This and other replica mission tools would be stored in an area of easyaccess.

Proxy robot 1 is also holding a bar tool 4 in its right hand 3, but inthis case the tool is real, made from steel or a similar substancecapable of performing real work. Note as well that the robot is beingmade to walk up a slight hill 7, the incline of which is duplicated bymechanisms controlling a treadmill 8, which in this figure and those tocome may, in an exemplary embodiment, be a manual treadmill controlledby the human handler's feet. Alternatively, the controlling mechanism isa motorized treadmill that automatically re-centers the handler aftereach step. Such control of handler pitch, roll and heading will becovered in the discussion under the figures to come.

Pitch and other positional aspects of handler's treadmill 8 arecontinually adjusted in the handler environment from computer-drivenmechanisms analyzing video and other signals from the proxy robot. Forexample, satellite triangulation might have sufficient resolution toindicate an average terrain rise of so many centimeters per meter;moreover, Doppler radar transceivers operating via radio frequency,light, infra-red or even sonar where applicable could be located inappropriate locations 26, 27 such as above the robot's eye cameras andin the front of the robot's boots, respectively.

Some data, such as that just discussed, flows from proxy robot locationto human base. Just as vital is data flowing from handler to proxyrobot. For example, joints 10 in the arm and wrist of human handler 2continually send positional and joint angle data to the robot for“follow me” replication by the proxy. Similar data is sent from hand andfinger joints 12 in the human handler for replication in the same jointsor hinges 11 in the robot. Torso and leg angles in the human 14 are alsosent as data to the proxy for replication 13, and joint angles in thefeet of the handler 16 are translated into data for replication in theproxy 15.

There are a number of means by which joint angle and similar data can bemonitored and sent. One possibility is via clothing with built-in straingauges at critical joints; another is from similar strain gauges inspecial elastic bands fitted for wear on the knees, ankles, elbows andso forth. Gloves, stockings and “booties” can also contain straingauges. Another approach involves gyroscopic position marking,especially of the head's various angles. While only one side of humanand proxy are depicted, is to be appreciated that similar data emanatesfrom the right arm and leg of the human to control those sections of theproxy as well.

Depending on the need of the mission and complexity of the proxy robot,data may be sent from many more points on the human for replication bythe proxy. Vital sensors would continuously monitor the side-to-sideangle (yaw or heading), up-down angle (pitch), and sideways tilt (roll)of the human's head, represented by point 18 in the drawing. All ofthese angles would be faithfully replicated by the proxy robot, asrepresented by point 17. This latter interchange of data is extremelyimportant, since it duplicates the human function of scanning, analyzingand just “looking around.”

Another method of sending “follow me” movement and positional data fromhandler to proxy was discussed in U.S. Patent Application 61/613,935;namely, the use of motion capture technology to monitor the samecritical joint and movement areas by camera or other means. Depicted inthe drawings are three appropriately modified motion capture cameras37-39 spaced at 120-degree angles around the handler to capture thehandler's every move. Data from these cameras is sent to a computer foranalysis which is translated to near-real time movement commands to theproxy robot.

There are approximately 230 joints in the human body, but a number farfewer than this can suffice for robots and their human handlers.Wherever the robot is stiff and inflexible, the human will feel the sameinflexibility in this exemplary embodiment, as noted by rigid areas 19on the arm and torso of the proxy and the same areas 20 on the handler.Area 21 on the human handler comprises a display of video from thecamera “eyes” 28 of the proxy robot. Other important data may bedisplayed on the handler's goggles as well, the subject of the figure tofollow.

A two-way communication headset worn by the handler includes headphones22 and microphone 29, and provides a means of handler communication withhuman colleagues, including mission personnel and other team members.The handler's microphone 29 can also be used for voice commands notdirectly intended for the proxy robot. A prime example of the latter isa command to take the handler off-line: for a change of handlers, acoffee or bathroom break, a quick meal or other purposes. So the handlermight say “Freeze, Freeze” to stop the robot in its tracks and gooffline, and “Restore, Restore” to restore the link and continuehuman-robot interaction.

FIG. 1A depicts the headset's electronic circuit. Headphones 22 aconnect to a buss line 36 accessible to other handler team members andmission personnel. Microphone 29 a feeds two buffer amplifiers 34. Theamplifier to the right connects handler voice communication to themission buss 36, while the left amplifier connects to processingcircuitry that translates voice commands like “Freeze, Freeze” intomeaningful guidance signals for the proxy robot. Note that a proxy robotcan only receive signals from her/his handler; other communication onthe mission buss is not received. Alternatively, two microphones atposition 29 a could be employed; one to direct handler voice messages tothe mission buss, and another to direct voice commands to the proxyrobot.

A “gravity harness” 23 complete with protruding portions 24 to allowmaximum handler flexibility is connected to a number of bungee cords 25(or cables with springs) calculated to render the weight of the humanhandler the same as that of the handler's proxy robot at its remotelocation.

For example, earth's moon has approximately ⅙ earth gravity, so if aparticular proxy robot weighs 120 kilograms on earth it would weigh amere 20 kg on the moon. So the object is to render the weight equivalentof the human handler that same 20 kg, regardless of his or her actualweight. Put another way, if the handler weighs 70 kg, the gravityharness would effectively reduce that weight to 20 kg if that is theweight of the proxy on the moon.

FIG. 2 is an exemplary representation of how a heads-up display mightappear in the helmet or goggles of a human handler, or on viewingscreen(s) in front or possibly surrounding that handler. The mainportion 30 in the upper portion of the drawing shows real- ornear-real-time video from the camera “eyes” of the handler's proxyrobot: a lunar scene with hills in the background and a large rock inthe near foreground being surveyed by another proxy robot.

In an exemplary embodiment, as this video would almost certainly bethree-dimensional, the handler's goggles include such provision for 3-Drendering as polarization, left-right switching, color differentiation,vertical striation or some other known way to channel video from therobot's right camera to the handler's right eye and left camera robotvideo to the left eye of the handler.

The display screen can also include such important information from theremote location as ambient temperature, ambient luminosity, pitchforward (incline in this case), roll right-left (slight tilt to theright showing), heading in degrees from true north, latitude andlongitude, surface conditions, and proxy battery status, all representedby 31 in the drawing.

Area 32 of the display might contain alerts and warnings, in this case amessage about an abrupt 3.51 meter rise (the big rock) some 4.7 metersahead of the proxy, while area 32 of the screen could show a frontal andright profile view of the proxy robot's body in simple outline or stickfigure form. The latter could be vital in depicting a proxy robot fallor entanglement.

FIG. 3 illustrates an exemplary method and apparatus whereby the handlercan change heading on the treadmill, causing the robot to change headingwhile the human handler stays safely on the treadmill. This can beaccomplished by placing the treadmill on a turntable.

In FIG. 3A, the handler steps from position 44-45 by moving her leftfoot 44 to a turn position 47 pointing to a change in heading 48 to anew bearing 42 which is forty-five degrees clockwise of the oldposition. When the handler moves her right foot from position 49 to 50in FIG. 3B (with the left foot remaining at position 51), this actioncompletes the forty-five degree bearing change and causes the turntableto rotate from the old heading 52 to the new heading forty-five degreesright (clockwise) 53.

In FIG. 3C we see an exemplary embodiment of treadmill 54 at the newheading 55, and also that the treadmill has moved the handler back tothe center. What is less obvious is that the handler has also shiftedthe positions of her feet 57, 58 to once again face forward, a move thatcan take place with a temporary offline interval like the “Freeze,Freeze” voice command discussed in FIG. 1 above. Small corrections likethis should become second nature to the handler with adequate training.

FIG. 4 shows an example of how the orientation of turntable 40 in FIG. 3can be changed to follow the footsteps of the human handler. In FIG. 4A,the handler's left foot 59 has already moved to the new orientation.Next the handler moves her right foot from position 60 to 61, aligningboth boots in the new heading. FIG. 4B shows a magnified and moredetailed top-down view of the right boot 64, showing two marker points65 and 66 along the front-facing axis of the boot. The left boot (notshown) would have points at corresponding locations.

In FIG. 4C, an overhead reader 68 scans or otherwise notes the positionof these markers atop the handler's boots, including markings 65 a and66 a on the right boot 64 a as shown. When the second boot (the rightone in this example) has changed heading, reader 68 sends a command tothe turntable (40 in FIG. 3A) to rotate to a new heading averagedbetween the heading readings from both boots.

In practical terms there are many ways that reader 68 can track thepoints on the handler's boots. One possibility is by radio transmission(RFID, Bluetooth, WiFi, Zigbee, near-field or any number of other RFmeans), wherein the reader contains transceivers that “ping” both pointson each boot and triangulate their relative locations. Othertriangulation methods can include laser transmission and reflection,radar and sonar. Or the points on the boots might themselves betransmitters of RF, sound or light, in which case the reader wouldincorporate one or more receivers to plot the orientation of each boot.

Still under FIG. 4C, the areas 69 under the heel and sole of each of thehandler's boots denote pressure switches to signal “foot down” to theproxy robot. This is an important operation, since it may be difficultfor the handler to know whether a proxy's “foot” is firmly down or stillhanging an inch off the ground, creating an impossible situation for therobot when the handler moves the other foot.

So the purpose of each pressure switch 69 is to tell the proxy robotthat the heel, sole or both portions of the handler's boot is firmly onthe ground, at which point the proxy will follow suit. Having pressureswitches 69 under each portion also guides the proxy in the navigationof rough terrain, steep angles and so forth.

While FIGS. 3 and 4 above demonstrated a method and apparatus forvarying the heading of a human handler on a treadmill, FIGS. 5-7 willdemonstrate method and apparatus for varying the pitch 78 (tiltfront-to-back) and/or roll 82 (tilt side-to-side) of the treadmill.

FIG. 5 depicts an exemplary embodiment of treadmill 70 mounted to astand 71 with appropriate mounting hardware 72. Attached underneath thestand are four legs 73-76 extendable via hydraulic, pneumatic or othermeans from a relatively flat profile 77 to many times that height 73.When all legs are in their compacted state, the plane of stand 71 andits treadmill 70 is flat, without tilt in any direction.

Let us first consider pitch. If we want to tilt the treadmill up fromfront to back 80, front legs 74 and 75 should be in their compressedstate, while back legs 73 and 76 will be totally or partially extendedto achieve the desired rise to the rear of the treadmill. Front-up,rear-down pitch 81 is achieved by doing the opposite: extend front legs74 and 75 and compress back legs 73 and 76.

In the case of roll, we can tilt (roll) the treadmill downward towardthe right side 84 by compressing legs 75 and 76 while extending legs 73and 74, or conversely tilt downward toward the left side 85 bycompressing legs 73 and 74 while extending legs 75 and 76.

The accurate simulation of some remote terrain might involve a degree ofboth pitch and roll: for example, as the proxy robot climbs an irregularincline. Simulating this condition might involve fully compressing leftrear leg 73, fully extending right front leg 75, and partially extendinglegs 74 and 76—all in accordance with terrain data received from videoand sensors on the proxy robot.

FIG. 6 illustrates another exemplary method and apparatus for addingpitch and roll as taught in FIG. 5 above to a treadmill 86 mounted bysuitable means 87 to a stand 88 which rests on four or more short legs89. Each leg in turn rests on a ball joint 91 and ball-cupped foot 90which may be mounted to the floor.

In this figure, pitch and roll are controlled by four winches 97-100,each connected to a cable, wire or rope 93-96, and one or more cornersof the treadmill stand 88 are lifted to achieve the appropriate amountof pitch and/or roll. For example, if the incline of the terraindepicted in FIG. 1 above defines a rise (pitch) of 9 degrees, thetreadmill might need to rise 10 cm from back to front, meaning that eachof the two forward winches 97 and 98 would be commanded to take in 10 cmof cable.

In the example above, the treadmill would rest solely on its two rearlegs, but the angle of each leg would no longer be perpendicular to thefloor. This is the reason for ball joints 91, allowing the some weightof the treadmill and stand to rest on the rear legs even as their anglechanges relative to the floor.

Always having at least one and usually at least two feet on the floorwill help secure the semi-hanging treadmill, stand and human controller,but there are at least two additional possibilities to further stabilizethe device. The first is to have telescoping elements 92 in each shortleg to allow all legs to continue to touch the floor under anycombination of pitch and roll. These are not the hydraulic or pneumaticjacks of FIG. 5, but rather serve only to stabilize the platform againstsway. Rather than strictly telescoping, the internal extension 92 mightalso be made of spring steel, gently pulling the stand down under smallextension and exerting increasing counter-force with greater extension.

A second method of platform stabilization is depicted in the form oflines 115-118 radiating outward from each corner of the stand 88. Theselines are connected to a suitable hook 119, and may represent bungeecords or ropes or cables with series springs to maintain the entireplatform centered and stable under various conditions of pitch and/orroll.

FIG. 7 illustrates still another exemplary method and apparatus for theaddition of pitch and roll to a treadmill simulator for human proxyrobot handlers, wherein the legs 120 under a treadmill 108 are firmlymounted to the floor of a modified or custom made motion simulator 101.Motion simulators are typically costly devices, with pitch, roll andvarious vibratory sensations (like earthquakes, rocket engines orrunaway trains) are created by varying the length of four or more largehydraulically extending arms 102-105 resting on large floor pads 106,107.

Within the pod of motion simulator 101 we see the human handler of FIG.1, complete with gravity harness 109 and bungee cords or cables withseries springs 110 hanging on hooks 111 from the ceiling of the pod.Note however, that this environment allows the human handler to viewvideo from the camera “eyes” of her proxy robot on a large and possiblywrap-around video screen or screens 112 rather than view the same videoin a helmet or goggles.

As a consequence, the goggles 113 worn by the handler in this drawingare likely for 3-D viewing, while a two-way headset 114 may still beemployed for mission and team communication as well as voice commandslike “Freeze, Freeze.” Although the same ends could be accomplished viaa microphone and speakers not directly connected to the person of thehandler, the headset 114 serves the additional purpose of isolating thehandler from ambient noise including operational sounds of the motionsimulator.

FIG. 8 illustrates an example of a spherical treadmill with variablepitch, roll and infinitely variable heading. In this novel approach, thetreadmill takes the form of a large sphere 130, with a diameter manytimes average human height; e.g., at least three times but preferablyfive or more times human height. The diameter of sphere 130 in FIG. 8 isapproximately 30 feet, but the simulator staging area typically occupiesonly the top 25% to 35%, as depicted by floor line 140. The sphereprotrudes from a circular opening in upper floor 140, and a small area168 where floor meets sphere is magnified to depict Teflon® or aflexible, renewable material such as bristles, rubber or plastic betweenthe two surfaces. In addition to keeping debris from falling through thefloor, this junction 169 serves to stabilize the sphere and smooth itsmotion.

The sphere 130 can be made of a lightweight but strong material such asplastic, aluminum or composite coated with rubber or a similar no-slipsubstance. It rests upon three or more large bearings 134, with eachbearing seated in a socket 134 a which is mounted firmly in place to thesupport floor under sphere 130. Bearings 134 and their lubricatedsockets 134 a assure movement of the sphere with minimum friction,allowing pressure wheel motors 131 and 133 to be relatively small andeconomical.

In the upper (simulator stage) portion of the sphere 130, a humanhandler 135 is taking a step to direct her proxy robot's course. As thistakes place, data indicating handler heading 141, step distance 142 andstep moment (time duration and velocity) 143 is sent to handler stepmotion circuitry 136 which sends appropriate data representing eachparameter to both the proxy robot as part of a “follow me” data string139 and to a processor 137 that feeds either digital or analog data tomotor control circuitry 138 a, 138 b and 159, with description to followlater.

If the proxy robot is walking on flat terrain, the human handler willoccupy position 135 a at the very top, center of sphere 130. Althoughthat handler will be atop a very slight rise equal to the rise atop thatsection of the sphere, the simulation from a sphere five times thehuman's height will be of a relatively flat surface.

But if the robot is walking up a rise akin to the example in FIG. 1,this positive (nose up) pitch of around 10 degrees can be simulated bysituating the handler in position 135 b on the sphere. A more severeforward pitch of approximately 20 degrees is shown as position 135 c onthe sphere, while at position 135 d near floor level, rise in pitchapproaches 45 degrees. Positive (upward) pitch is represented by arrow144 in the drawing, while downward or negative pitch is represented byarrow 145.

Downward pitches on the same heading at −10, −20 and −45 degrees can besimulated from positions to the left of the sphere, at 135 e, 135 f and135 g, respectively. If the handler's position moves left in thedirection of arrow 146, there will be leftward roll (left tilt) in thatposition. For example, position 135 h would exhibit severe roll, tiltingsome 25 degrees to the left. Moving the operating stage in the oppositedirection (hidden from view) will result in roll to the right (righttilt). From the foregoing, it can be seen that any conceivablecombination of pitch and roll can be found at various locations on thesurface of the spherical treadmill 130.

Since the pitch and roll conditions in the simulator beneath the humancontroller are determined by feedback 152 from the proxy robot's remotelocation, suitable means must be present to change the location of thehandler staging area to one matching the average pitch and roll of theremote terrain. In the drawing, data is received from at least threesources on the “person” of the proxy robot: 3-D video from its camera“eyes” 153, terrain-level radar data from its boots 157, and anadditional radar view 158 from a point above the robot's video cameras.

The video feed from the remote location is routed directly to displaydevices for the human handler and other mission personnel. Video canalso go to a video terrain analyzer 153 which turns the near-real-timevideo stream into data 156 about the terrain ahead, both immediate (nextstep) and the general lay of the land upcoming.

These three data streams—video analysis 156, boot view radar 157 a and“third eye” radar 158 a are routed to a “terrain just ahead data”circuit 154 where they are bundled with data from handler step motiondata circuit 136 and fed to a processor 137 which turns all the inputinto meaningful signals to drive the above-mentioned motor controlcircuitry 138 a, 138 b and 159.

Motor control circuits 138 a and 138 b convert the data from processor137 into positive or negative direct current to drive motors 131 and 133and their respective pressure rollers 131 a and 133 a in eitherdirection when so instructed by processor 137, causing the sphere toturn under the handler's feet to compensate for steps the handler takesforward, backward or in any direction whatever. But since it is alsoacting from signals representing such upcoming terrain conditions aspitch 144, 145 and roll 146, it is the function of the roller motors toeffectively move the sphere under the handler as each step is taken toplace that person in average pitch and roll conditions matching theremote terrain to the greatest extent possible.

Motor mounts 132 are illustrated to show a possible position for apressure solenoid that can activate whenever a roller motor is calledinto service, pushing, for example motor 131 and its attendant roller131 a harder into the sphere to gain traction. The advantage of usingsolenoids in this manner is that the non-active roller(s)—from motor 133and its roller 133 a in the example—provides less drag for the activemotor and roller to overcome. Of course there may be instances when bothroller motors (or possibly four roller motors, one every 90-degrees,with roller motor pairs spaced 180 degrees apart) may be called intoaction simultaneously. But in this case there will be less drag toovercome as motion overcomes inertia, even with all solenoids pushingthe motors' rollers into the sphere. Although roller motors 131 and 133are depicted as mounted against the upper floor 140, they can also bemounted at the sphere's equator or in any other convenient position.

As described in previous drawings, the human handler would be strappedinto a gravity harness suspended from a platform 148, 149 by a number ofbungee cords or cables with springs 147. A rotation collar 149 b allowsthe platform to rotate freely in any direction. As the handler iseffectively moved about on the staging surface of the upper sphere, itis important that the gravity harness follow those movements to maintainthe handler's correct effective weight, by lifting from a positiondirectly above the handler and harness. In the drawing, three handlerpositions are depicted: 135 a which is relatively flat, 135 b with apositive pitch 10 degrees, and 135 c with a forward incline of some 20degrees.

Roller motors 131 and 133 can place the handler in any of the abovepositions or virtually anywhere else on the simulator stage, but anadditional mechanism is needed to move the gravity harness as thehandler is moved. This mechanism is an extendable boom or robotic arm162 shown at the top of FIG. 8, which provides overhead lift as well aspositional correctness directly over whatever handler's position. Theboom or robotic arm depicted is for illustrative purposes only, as itcan be appreciated that other combinations of tracks, motors and cablescan place the handler at the required positions.

At the tip of the boom is a winch 161. The motorized winch maintainsconstant torque (upward pull) on the handler at some predeterminedlevel. For example, if the handler is to match the 40 lb. lunar weightof a 240 lb. robot, that handler's weight should be effectively 40 lbs.So a 160 lb. human handler would require a constant upward pull of 120lbs., and a downward pull by gravity of 40 lbs. It is the job of winch161 to maintain this effective weight. The winch pays out as much cable150 as necessary to constantly maintain the desired upward pull on thehandler, and it receives data from processor 137 via boom motor controlcircuit 159. The cable positions 150, 150 a and 150 b are maintaineddirectly over handler positions 135 a,135 b and 135 c, respectively, bylateral movement of the boom, which can extend/retract; swing right orleft, and tilt up or down in accordance with data instructions fromprocessor 137 and boom motor control 159.

Maintaining constant torque solves one problem; namely, that the lengthof cable 150 must change the further the handler is moved from the“flat” position 135 a at top center. So when processor 137 and rollermotors 131, 133 act to place the handler in position 135 c, for example,the length of cable 150 would leave the handler dangling in mid-air. Butnot really, since such dangling weight would equal 160 lbs downward.Immediately, the constant torque mechanism would tell the winch to letout more cable until the handler once again exerts 40 lbs downward and120 lbs upward.

The winch weight-reducing apparatus is only necessary in remotelocations with far less gravity than earth, a situation particularlytrue on the moon. For earth-bound projects, for example, the handlerharness would require no gravity compensating apparatus, nor would it beuseful on planets with greater gravity than earth.

FIG. 8A illustrates another approach to the rotation of sphere 130.Items numbered between 130 and 165 remain as described in FIG. 8 above,while FIG. 8A is concerned with a plurality of motors with rollersequally spaced around the sphere, preferably at its equator 281. In thisdrawing, twenty-four such roller motors are spaced at fifteen degreeintervals around the sphere, with Nos. 251-263, representing the 13roller motors visible in the hemisphere facing outward in the figure,and 264 representing the 11 roller motors out of view. In fact, anynumber of roller motors might be employed, with greater roller motornumbers spaced proportionately closer yielding finer control over themovement of the sphere 130. For example, thirty-six roller motors mightbe spaced at ten degree intervals, with opposing roller motors (at180-degree spacing) receiving positive or negative direct current suchthat one motor such as 251 in the drawing will turn in the oppositedirection of its opposing counterpart 263.

Simply activating opposing roller motor pairs with motors spaced at tendegree intervals would permit the same ten degree resolution of movementby the sphere, but the ability to activate two neighboring motors suchas 257, 258 when necessary as well as their counterparts on the otherside of the sphere can reduce that resolution to five degrees ofaccuracy. But in point of fact, extremely fine resolution of movement,on the order of one degree or less, can be achieved through theapplication of more voltage on a motor such as 257 and less on itsneighbor 258 as well as their opposing counterparts.

In this drawing, the motor control circuits 138 a and 138 b of FIG. 8are replaced with a motor array controller 250 which translates datafrom processor 137 into analog currents of specific polarity andamplitude to move spherical treadmill 130 in any desired direction undera human handler.

Motor and roller assembly 251 is shown in blowup form in insert 251 a,wherein motor 266 is attached to roller 267, and the roller motorassembly itself is attached to a motor mount 268 attached to sphere 130.The motor mount includes a swivel 268 a and spring 269 that pulls theroller motor assembly away from the surface 282 of the sphere, creatinga gap 273 whenever the roller motor is not in use. This swivel andspring combination assures that inactive rollers are kept off of thesurface of the sphere so that they don't add unwanted friction thatimpedes sphere rotation. Obviously, the swivel and spring are forillustration purposes only, and merely representative of a family ofdevices that can be employed for the stated purpose.

Also shown in insert 251 a is a push solenoid 270 mounted 280 to sphere130. The solenoid has an inner plunger 271, usually an iron rod that canbe repelled or attracted by a magnetic coil in the solenoid. In thisinsert, the solenoid is not activated and the plunger is withdrawnnearly completely into the solenoid core.

Insert 265 illustrates a mode wherein the roller motor assembly isactivated such that the roller comes into pressure contact with thesurface 283 of sphere 130. This is shown in blowup form in insert 265 a,where roller 274 is pressed against sphere surface 283 by energizedsolenoid 278 mounted 280 to the sphere. Note that plunger 279 is nowextended from the solenoid core by magnetic repulsion, causing the motormount 276 to rotate inward (counter clockwise) on its swivel 276 a,stretching spring 277. In this active mode, positive or negative currentapplied to motor 274 by motor array controller 250 will cause the motorto turn in one direction, rotating the pressure roller 275 in the samedirection, and causing sphere 130 to turn in the opposite direction.

FIG. 9 depicts an exemplary method and apparatus for harvesting solarenergy to maintain batteries and electrical systems functional for anextended period in proxy robots through the provision of built-inphotovoltaic panels 180 on the upper surfaces of a cap, hat or helmet181, including dome portion 182 and sunshade portion 183. Such a cap isalso useful in shading robotic eye cameras from direct sunlight.

Photovoltaic (PV) solar panels may also be included onshoulder/breastplate 184. Although the figure depicts 6 individual cellsor sections in breastplate 184F (front), this is for illustrationpurposes only, and any number of sections or cells may be employed.Photovoltaic panels may also be placed on the top facing surfaces of thefeet 185R and 185L.

FIG. 9A is a rear view of the dome 182 and sunshade 183 of the cap, hator helmet, while 184B (back) represents photovoltaic panels on the upperback and shoulder area.

FIG. 9B is a block diagram showing solar panels 180, 184F, 184B, 185Rand 185L all connected to individual inputs in a PV charge manager 186.All photovoltaic panels generate electrical energy when exposed tosunlight or other radiation; energy which can be stored in batterieslike the proxy robot's internal battery bank 187. PV charge manager 186is designed to harvest any and all electrical energy emanating from therobot's PVs and convert it into charge energy for the batteries.

From battery bank 187, electrical power 188 is routed to mobilitymotors, processors, communication systems, cameras and other sensors,size-changing apparatus and other systems and devices in the robotrequiring electrical energy. A charge station connector 189 is includedon the battery bank to receive power from another charge manager locatedin the robot's normal charging station.

If battery power is very low, robot power routing may beprioritized—either automatically or from the mission base—in such mannerthat communication systems and cameras, for example, may receive powerwhen some other robotic system do not. This will allow mission personnelto analyze the situation and seek remedies.

The inclusion of solar energy systems as described in FIG. 9 aboveprovides an important failsafe, allowing an out-of-power robot to“re-fuel” away from its normal charging station 189. Moreover, it mightbe possible to completely bypass a failed battery bank and still havesufficient solar power available for communication, diagnostics, a shiftin position to maximize solar input, or possibly even a slow but steadytrek back to the base.

FIG. 10 illustrates an exemplary method and apparatus for the adjustmentof key proxy robot dimensions by means of turnbuckle-like bolts withopposing threads. Specifically, dimensions are increased or decreased byuse of either electric motors 191-195 or a manually-adjusting elementsuch as wrench-adjusted portion 205 in FIG. 10A.

For example, if positive DC current is applied to motor 191 in the torsoof the pictured proxy robot, the motor will commence rotation, turningits two oppositely-threaded shafts 196 and 1997 in a counter-clockwise(CCW) direction (see threaded portions 201 and 202 in FIG. 10 forclarity). This CCW rotation will cause shafts 196 and 197 to screw intothreaded tubes 198 and 199, diminishing the torso length of the proxyrobot.

Conversely, applying negative DC current to motor 191 will causeclockwise (CW) rotation of the oppositely-treaded shafts 196 and 197,causing these shafts to exit each treaded tube 198-199 and extend thedimensions of the torso.

The same applies to all other motors 192-195 and their correspondingshafts 196-197 with opposing threads and threaded tubes 198 and 199, butin the case of all other adjustable sections, normal operation would beto adjust right and left halves in pairs. For this reason there are twomotors 192 in the upper arms with shafts and threaded tubes; two motors193, et al in lower arms; two motors 194 et al in upper legs and twomotors 195 in lower leg sections. In the drawing, darkened areas at thejoints 190, shoulders and hips simply indicate structural connectionpoints to complete the robotic skeleton.

Thus it can be seen that positive or negative DC current may be appliedto either torso motor 191 or any of the arm or leg pairs, not only toadjust the overall height of the proxy robot from a minimum of around 5feet to a maximum of 6.5 feet or greater, but also to adjust bodyproportions to match those of a human handler with, for example, longlegs and short torso; long arms and legs and average torso, or longtorso and shorter legs—combinations that real people bring to eachmission. More will appear on this subject under FIG. 10B below.

Power-assisted proxy robot adjustment means like those described abovemight enable programmed readjustment of robot dimensions with eachchange of handler. For example, 5 handlers might be continuouslyoperating a single robot in shifts, twenty-four hours per day, sevendays a week (earth time). At each shift change, the new handler couldenter a code or swipe a card (etc) which would not only serve as asecurity pass but also feed that particular handler's human dimensionsinto a program that would automatically readjust the robot to thedimensions of the new handler. The closer the physical match betweenhandler and robot, the simpler and safer it movement and productiveoperation, and the more the handler will feel “at home” in the body ofher/his robotic partner.

Of course, manual dimension adjustments might be made to a proxy robotwith motorized or otherwise powered controls as well, not only tooverride or circumvent programmed adjustment but also for testing orfield adjustments for whatever reason. In one example of the latter,particular conditions in a mine or crater, say, might need the servicesof a “taller” robot, while work in a confined space might warrantminimizing all dimensions.

FIG. 10A, as discussed above, is partly included to show a magnifiedturnbuckle-like element for clarity. But it also stands alone as analternative to automatic and/or machine-adjustable dimensional elements,with a center element 205 integral to a threaded shaft with opposingthreads 201 and 202. Although the figure shows a turnbuckle or screwextender-style apparatus with threads in two elements 206 and 207matching each threaded shaft at the center end of two open “C” supportbraces 203 and 204, a more likely scenario is that ofinternally-threaded tubes like those in FIG. 10 rather than supportbraces and threaded end elements.

To extend the apparatus of FIG. 10A, a wrench or similar tool is placedover fixed center element 205. As above, CCW rotation will cause shafts201 and 202 to screw into internally-threaded elements 206 and 207,diminishing the overall length 208 of the mechanism, while manual CWrotation will causing the threaded shafts to exit each end element 206and 207, extend overall length 208.

FIG. 10B shows, in block diagram form, how the proxy robot dimensionmotors might work in a circuit. The motors represent upper arm portion192 (left, right); lower arm section 193 (L,R); torso 191T; upper legs194 (L,R); and lower leg sections 195 left and right. Note that allleft, right motors are paired (wired in parallel), such that anyadjustment to one lower arm, for example, would normally make the sameadjustment in the other as well.

The two sides of each motor coil are directed to a proxy dimension motorcontroller 210, which in turn receives data 219 representing programmeddimensions 216 which can be either entered locally 217 at the site ofthe proxy robot, whether in factory, home base or some remote location,or, more likely, as remote input 218 within the communication datastream from the mission base.

Note as well direct inputs 211-215 to each motor or pair. This allowsdimension changing by the application of appropriate positive ornegative DC current directly into the robot—for testing, emergencysituations, work-arounds and so forth.

FIG. 10C illustrates “taller” and “shorter” versions of a proxy robot,adjusted to match a taller and shorter human handler in each instance.Specifically depicted is a six-foot, six-inch human handler 220, and aproxy robot 221 adjusted to match the handler's overall height, arm andleg length, and so forth in accordance with the drawing and descriptionunder FIG. 10 above.

To the right of the taller human-proxy robot pair is another, shorterhuman handler 222 of five foot height, matched by proxy robot 223 ofthat same height. While it is obvious that humans 220 and 222 are notthe same individual, the same cannot be said of robots 221 and 223,which very well may be the same proxy robot adjusted electronically tomatch the heights and other dimensions of the two rather distinct humanhandlers.

Note that the proxy robot's outer skin 224, 225 remains smooth andintact over the surface of the robotic frame. This outer skin rendersthe robot's internal circuits, power supplies and mechanisms clean andfree from contaminates like dust, liquids and so forth, made possiblethrough the use of an elastic, pleated or otherwise stretchable proxyrobot skin constructed of plastic, rubber or some other flexiblematerial.

Note as well compartments 226-229 in the larger proxy robot iteration221. These contain electronics, mechanics, batteries, etc, and aremounted with vertical space between pairs 226-228 and 227-229. But inshrunken proxy robot iteration 223, the extra vertical space between thesame compartment pairs 226 a-228 a and 227 a-229 a has nearlydisappeared.

The principals discussed under FIG. 10C are for illustration purposesonly, and apply equally to other dimension adjustment means such ashydraulic, pneumatic, screw-motor, turnbuckle, etc, while theillustration of compartments is also exemplary and not limiting in anymanner.

FIG. 11 represents at least three scenarios wherein a proxy robot'sdimensions (and quite possibly its movements as well) are controlled byfluid dynamics, including hydraulics and pneumatics. The first scenarioinvolves hydraulics, with a hydraulic fluid reservoir tank 241 connectedto a pump 230 that turns on as necessary to maintain some pressureconstant in the tank and hydraulic systems. Although pump 230 isdepicted in a position between tank 241 and hydraulic tubing 240 thatruns throughout the robot, the actual location of the pump may vary.

Typically pump 230 is electrical; nevertheless, in dealing with proxyrobots, whether semi-autonomous or under direct human handler control,it is possible to consider even a manual pump that can be operated byeither another proxy robot or even the subject proxy robot itself: whenit begins to feel “tired” it pumps a plunger, squeezes a fluid-filledball or whatever to revitalize itself! Considerations such as this makeit possible to envision robots operating completely from compressedfluid, with perhaps a single electric pump or even no electriccompressor pump at all, with the robot receiving a full pressure chargeperiodically from a station at its mission base.

Still under scenario one, pressurized hydraulic fluid is available to aseries of pressure valves 231-235 which take on the functions of thedimension-changing screw motors presented under FIG. 10. In the presentcase, each valve operates two pistons 238, 239 which protrude fromcylinders 236-237 to change the overall dimension of their particularstrut either positively (more length) or negatively (less length)depending on the hydraulic pressure let through each valve. Obviously,each hydraulic strut could operate with a single piston and cylinderrather that the double-ended configuration depicted.

The second scenario is also hydraulic, but in this case tank 241 servesto simply provide extra hydraulic fluid, and what were pressure valves231-235 become individual pumps that each generate pressure sufficientto maintain a required set of strut dimensions. In this scenario, tankpump 230 simply assures sufficient fluid supply to each individual strutpump.

Scenario three works basically like scenario one, but in this casecompressed gas replaces the hydraulic fluid. So pressure pump 230 is an“air” (gas) compressor that maintains the gas in tank 241 at a constantpressure, and pressure valves 231-235, pistons 238-239 and cylinders236-237 are all pneumatic rather than hydraulic. Although robot mobilityis not the focus of the present discussion, it is to be understood thatsystems for robot motion can also be hydraulic or pneumatic in nature aswell as operating from electric motors so some combination of the above.

The block diagram under FIG. 11A serves a purpose identical to thecircuit of FIG. 10B above, but in the present case the circuit serveshydraulic or pneumatic dimension-changing systems rather than achievingthe same purpose through electrical means as in FIG. 10B.

Specifically, numbered items 231-235 are either pressure pumps orpressure valves as described in FIG. 11 above, including pumps or valvesrepresenting upper arm portion 232 (left, right); lower arm section 233(L,R); torso 231T; upper legs 234 (L,R); and lower leg sections 235 leftand right. Note that all left, right pumps or valves are paired (wiredin parallel), such that any adjustment to one lower arm, for example,would normally make the same adjustment in the other as well.

The two sides of each pump motor or electrical valve coil are directedto a proxy dimension motor controller 250, which in turn receives data251 representing programmed dimensions 252 which can be either enteredlocally 253 at the site of the proxy robot, whether in factory, homebase or some remote location, or, more likely, as remote input 254within the communication data stream from the mission base.

Note as well direct inputs 245-249 to each motor or pair. This allowsdimension changing by the application of appropriate positive ornegative DC current directly into the robot for testing, emergencysituations, work-arounds and so forth.

This specification focuses on the creation of an environment for a humanhandler reflecting as closely as possible the remote environment of thehandler's proxy robot. Simulating a remote environment is extremelyvaluable in training human handlers of proxy robots, both singly and inteams.

For training purposes, the content herein is applicable to robots withsome or even a great deal of autonomy as taught in the previousapplication. But for actual missions this specification is particularlypertinent to cases where the robot is largely devoid of artificialintelligence (AI), essentially representing an extension of the humanhandler.

Put another way, this specification is about human telepresence inspace, and especially in such near-space locations as the earth's moon.During his or her turn in control of a given proxy robot, the humanhandler sees and feels and acts through the “person” of that robot:guiding the proxy in exploring; mining; doing science experiments;constructing; observing the earth, planets or stars; launchingspaceships to further destinations; rescuing other robots or humans; orsimply enjoying an earthrise over the moon's horizon.

I claim:
 1. A system for controlling a human-controlled proxy robotsurrogate comprising: a plurality of motion capture sensors formonitoring and capturing all movements of a human handler such as eachchange in joint angle, body posture or position; a plurality of controlsattached to the proxy robot surrogate that relays the monitored andcaptured movements of the human handler as “follow me” data to the proxyrobot surrogate; and wherein the plurality of controls are configuredsuch that the proxy robot surrogate emulates the movements of the humanhandler.
 2. The system of claim 1, wherein said motion capture sensorsare similar in operation to sensors utilized in motion pictureanimation, suitably modified to track critical handler movements in realtime.
 3. The system of claim 1, further comprising strain sensors in thehandler's clothing, gloves, stockings, booties or elastic bands worn bythe handler over joints such that each change in joint angle, bodyposture or position can be relayed as “follow me” data to a proxy robotsurrogate for emulation.
 4. The system of claim 1, further comprisingtwo-way data and communication channels between proxy robot surrogatesand their human handlers, including channels from the proxy robotsurrogate to the human handler with video, sensory, positional andanalytical data, and channels from handler to proxy robot surrogate with“follow me” positional data and mission commands.
 5. The system of claim4, further comprising a flow of data from the human handler to the proxyrobot surrogate; wherein joints in the arms, wrists, hands, fingers,torso, legs, feet and neck of the human handler continually sendpositional and joint angle data to the robot for “follow me” replicationby the proxy robot surrogate.
 6. The system of claim 5 furthercomprising sensors that continuously monitor the side-to-side angle(heading), up-down angle (pitch), and sideways tilt (roll) of the headof the human handler, allowing all of these angles to be faithfullyreplicated by the proxy robot surrogate.
 7. The system of claim 4,wherein said two-way data channel includes three-dimensional video datafrom each of the proxy robot surrogate camera “eyes” transmitted to ahead-mounted or other three-dimensional video display screen meansavailable to the human handler.
 8. The system of claim 7, wherein thedisplay screen further includes information from a remote location suchas ambient temperature, ambient luminosity, pitch forward, rollright-left, heading in degrees from true north, latitude and longitude,surface conditions, battery status, and an area of the screen for alertsand warnings.
 9. The system of claim 7, wherein doppler radartransceivers operating via radio frequency, light, infra-red or sonarare located in appropriate locations such as above the proxy robotsurrogate camera “eyes” and in the front of the boots of the proxy robotsurrogate.
 10. The system of claim 7, wherein the video display includesfrontal and profile views of the body of the proxy robot surrogate insimple outline or stick figure form.
 11. A system for simulating themovements of a human-controlled proxy robot surrogate at a remotelocation comprising: a human handler in communication with the proxyrobot surrogate; a treadmill comprising a plurality of sensors incommunication with a plurality of sensors on the proxy robot surrogate;a circular platform on which the treadmill is mounted that adjusts todirectional information communicated from the plurality of sensors onthe proxy robot surrogate; and a plurality of mechanisms that vary apitch and tilt of the treadmill corresponding to terrain information ofthe remote location of the proxy robot surrogate; wherein the terraininformation includes pitch, roll and other positional data; and whereinthe terrain information is continually adjusted by a computer-drivenmechanism that analyzes video and other signals from the proxy robotsurrogate.
 12. The system of claim 11, wherein the human handler isenabled to change heading on a treadmill, causing the proxy robotsurrogate in communication with the human handler to change headingwhile the human handler stays safely on the treadmill, accomplished byplacing the treadmill on a turntable which changes heading to match anaverage orientation of the human handler.
 13. The system of claim 12,wherein boots of the human handler include two or more markers on eachboot signaling the orientation of said boot.
 14. The system of claim 13,wherein an overhead reader scans or otherwise receives the positions ofthe markers atop the boots of the human handler, such that when thesecond boot has changed heading, the reader sends a command to theturntable to rotate to a new heading averaged between the headingreadings from each boot.
 15. The system of claim 14, wherein the readerreceives the marker positions via radio transmission methods including,RFID, Bluetooth, WiFi, Zigbee, near-field or any number of other RFmeans; and wherein the reader contains transceivers that “ping” bothpoints on each boot to triangulate their orientation and relativelocations.
 16. The system of claim 11, further comprising varying thepitch and/or roll of a treadmill for a human proxy robot handler,wherein attached to the treadmill frame are four legs which areextendable via hydraulic, pneumatic or other means from a relativelyshort profile to many times that height; wherein the pitch may be variedby extending either front or back legs; roll can be varied by extendingthe legs on either side; and wherein combinations of pitch and roll canbe created by varying the length of each leg.
 17. The system of claim16, wherein the treadmill is mounted by suitable means to a stand whichrests on four or more short legs, and each leg in turn rests on a balljoint and ball-cupped foot which may be mounted to the floor; andwherein the pitch and roll are controlled by four winches, eachconnected to a cable, wire or rope, and various corners of the treadmillstand are lifted to achieve the appropriate amount of pitch and/or roll.18. The system of claim 17, wherein stability is added through theinclusion of telescoping or coiled spring elements in each short leg toallow all legs to continue to touch the floor under any combination ofpitch and roll; or by the inclusion of at least four bungee cords orcables with series springs radiating outward from each corner of thestand, with each cord connected to a suitable hook to maintain theentire platform centered and stable under various conditions of pitchand/or roll.
 19. A system for simulating the movements of ahuman-controlled proxy robot surrogate at remote location comprising: ahuman handler in communication with the proxy robot surrogate; atreadmill with variable pitch and roll and infinitely variable heading;wherein the treadmill takes the form of a large sphere and theenvironment created falls generally within the top third of the sphereexterior; a plurality of sensors attached to the human handlertransmitting data including speed and step direction of the humanhandler; a plurality of receivers on the proxy robot surrogate receivingthe transmitted data from the sensors attached to the human handlercontrolling the movements of the proxy robot surrogate including speedand step direction.
 20. The system of claim 19, wherein sphere diameteris at least 3 and preferably 5 or more times average human height. 21.The system of claim 19, wherein the sphere rests upon large bearings,and wherein roller motors rollers contact and turn the sphere in anydirection when commanded by circuitry monitoring both the steps of ahuman handler and the pitch and roll of terrain immediately ahead in theremote location.
 22. The system of claim 19, wherein the sphere itselfmoves the handler to a location on the surface of the sphere whichexhibits pitch and roll matching terrain conditions in the remotelocation of the proxy robot surrogate that is in communication with thehuman handler.
 23. The system of claim 19, further comprising receivingdata from sources on the “person” of the proxy robot surrogate including3-D video from camera “eyes,” terrain-level radar data from its boots,and an additional radar view from a point above the camera “eyes”. 24.The system of claim 23, wherein video from the remote location is routedto a video terrain analyzer which turns a near-real-time video streaminto data about the terrain ahead, both immediate and a general upcomingtopography.
 25. The system of claim 24, wherein the video data iscombined with signals from the proxy robot's boot view and head viewradar and routed to a “terrain just ahead” circuit where they arebundled with handler step motion data and fed to a processor which turnsall the input into meaningful signals to drive the spherical treadmill'sroller motors.
 26. The system of claim 19, further comprising a gravityharness for the handler suspended from a platform by a number of bungeecords or cables with springs, and calibrated to render the effectiveweight of the human handler the same as that of the handler's proxyrobot at its remote location, and including means for moving the gravityharness to follow the movement of the handler about on the sphere tomaintain direct overhead lift and an effective human handler weightequal to that of the remote proxy robot surrogate.
 27. The system ofclaim 19, further comprising a plurality of motors disposed to includerollers equally spaced around the sphere, preferably at its equator. 28.The system of claim 19, further comprising a plurality of motorcontrollers, which translate data into specific polarity and amplitudesignals to move the spherical treadmill in any desired direction. 29.The system of claim 27, further comprising a plurality of motor mountsthat include swivel and spring assemblies that pull the rollers awayfrom the surface of the sphere creating a gap whenever the motor is notin use
 30. The system of claim 26, wherein the means for moving thegravity harness and maintaining the handler's effective weight is by awinch means letting out or taking in cable as the human handler andgravity harness are moved to new positions on the spherical treadmill.31. The system of claim 26, wherein the gravity harness lifting andpositioning is done by a movable, extendable boom or robotic arm whichreceives data from a processor and maintains direct overhead upwardtorque on the human handler in the gravity harness.
 32. The system ofclaim 26, wherein a “Boot-down” switch or pressure pad on a heel and asole of each of boot of the human handler signals the proxy robotsurrogate to completely lower its corresponding boot to the ground, heelor toe first.